We analyzed images from the KITTI datasethttp://www.cvlibs.net/datasets/kitti/setup.php [1]}, which includes images from two monochrome and two color cameras. We selected the color images for object detection. The KITTI dataset camera had a pixel size of 4.65 um and a lens with a 4mm - 8mm focal length based on a varifocal video lens [1]}.
